cmake_minimum_required(VERSION 3.0.2)
project(ocs2_robotic_tools)

# Generate compile_commands.json for clang tools
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)

find_package(catkin REQUIRED COMPONENTS
  ocs2_core
  ocs2_oc
)

find_package(Eigen3 3.3 REQUIRED NO_MODULE)

###################################
## catkin specific configuration ##
###################################

catkin_package(
  INCLUDE_DIRS
    include
    ${EIGEN3_INCLUDE_DIRS}
  LIBRARIES
    ${PROJECT_NAME}
  CATKIN_DEPENDS
    ocs2_core
    ocs2_oc
  DEPENDS
)


###########
## Build ##
###########

include_directories(
  include
  ${EIGEN3_INCLUDE_DIRS}
  ${catkin_INCLUDE_DIRS}
)

add_library(${PROJECT_NAME}
  src/common/RotationTransforms.cpp
  src/common/LoopshapingRobotInterface.cpp
)
target_link_libraries(${PROJECT_NAME}
  ${catkin_LIBRARIES}
)
target_compile_options(${PROJECT_NAME} PUBLIC ${OCS2_CXX_FLAGS})


add_executable(${PROJECT_NAME}_lintTarget
  src/lintTarget.cpp
)

#########################
###   CLANG TOOLING   ###
#########################
find_package(cmake_clang_tools QUIET)
if(cmake_clang_tools_FOUND)
  message(STATUS "Run clang tooling for target " ${PROJECT_NAME}_lintTarget)
  add_clang_tooling(
    TARGETS ${PROJECT_NAME}_lintTarget
    SOURCE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/src ${CMAKE_CURRENT_SOURCE_DIR}/include
    CT_HEADER_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/include
    CF_WERROR
  )
endif(cmake_clang_tools_FOUND)

#############
## Install ##
#############

install(
  TARGETS ${PROJECT_NAME}
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

install(DIRECTORY
            include/${PROJECT_NAME}/
        DESTINATION
            ${CATKIN_PACKAGE_INCLUDE_DESTINATION})

#############
## Testing ##
#############
## Info ==============================
## to run tests, cd package folder and run
## $ catkin build -DCMAKE_BUILD_TYPE=RelWithDebInfo --this
## $ catkin run_tests --no-deps --this
## to see the summary of unit test results run
## $ catkin_test_results ../../../build/ocs2_robotic_tools

catkin_add_gtest(rotation_transform_tests
  test/common/TestRotationTransforms.cpp
)
target_link_libraries(rotation_transform_tests
  ${PROJECT_NAME}
  ${catkin_LIBRARIES}
  ${Boost_LIBRARIES}
  gtest_main
)
target_compile_options(rotation_transform_tests PRIVATE ${OCS2_CXX_FLAGS})
